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Converted to using gyroDev_t and accDev_t as in betaflight

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This commit is contained in:
Martin Budden 2016-12-02 10:25:06 +00:00
parent 6caf2152e8
commit 14ec437311
48 changed files with 291 additions and 275 deletions
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6
src/main/sensors/acceleration.c
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@ -53,6 +53,8 @@ static biquadFilter_t accFilter[XYZ_AXIS_COUNT];
void accInit(uint32_t targetLooptime)
{
acc.dev.acc_1G = 256; // set default
acc.dev.init(&acc.dev);
accTargetLooptime = targetLooptime;
if (accLpfCutHz) {
for (int axis = 0; axis < 3; axis++) {
@ -159,7 +161,7 @@ void performAcclerationCalibration(void)
accSample[Y] = accSamples[axis][Y] / CALIBRATING_ACC_CYCLES - accZero->raw[Y];
accSample[Z] = accSamples[axis][Z] / CALIBRATING_ACC_CYCLES - accZero->raw[Z];
sensorCalibrationPushSampleForScaleCalculation(&calState, axis / 2, accSample, acc.acc_1G);
sensorCalibrationPushSampleForScaleCalculation(&calState, axis / 2, accSample, acc.dev.acc_1G);
}
sensorCalibrationSolveForScale(&calState, accTmp);
@ -183,7 +185,7 @@ static void applyAccelerationZero(const flightDynamicsTrims_t * accZero, const f
void updateAccelerationReadings(void)
{
if (!acc.read(accADCRaw)) {
if (!acc.dev.read(accADCRaw)) {
return;
}